version: 66.13
glider: 401
mission: 22
dive: 3182
start: 9 19 117 19 22 43
data:
$ID,401
$MISSION,22
$DIVE,3182
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,55
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,17
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,500
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,4
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,190917,190227,5835.3755,-17001.2227,7,0.9,16,8.8,0.5,271.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-4.7
$GPS2,190917,190227,5835.3755,-17001.2227,7,0.9,16,8.8,0.5,271.0,9,4.7
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W3S
$TGT_LATLONG,5803.150,-16922.180
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348684,0.184430
$KALMAN_X,64150.898438,-643.632690,-260.249359,-264231.375000,141.595306
$KALMAN_Y,-72306.695312,3184.768311,1013.936462,352782.687500,-53.126038
$MHEAD_RNG_PITCHd_Wd,138.5,70893,-11.8,-10.784,-15.15,6791
$D_GRID,55
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,12,-1.80,-487.5,2374,1940,2406,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,4097,0.023,0.000,1811,1941,2405,2405,4095,0,0,0,0,0,0,26.51,28.83,28.83,10.33,52.59
$GC,27,-1.80,-487.5,1810,1935,2406,4095,0.2,0.0,1,40,0.25,1.27,-5.55,0.000,20740,0.041,1.209,1773,2378,3056,3056,4094,0,0,0,0,0,0,26.26,23.72,26.27,10.33,52.52
$GC,160,-1.80,-487.5,1773,2377,3060,4094,16.6,-16.4,21,166,0.00,1.05,0.00,0.000,1030,0.000,0.032,1773,1955,3060,3060,4095,0,0,0,0,0,0,26.15,26.10,26.17,10.47,53.11
$GC,203,-1.80,-487.5,1773,1955,3061,4095,24.9,-16.5,27,208,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1956,3061,3061,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.48,52.55
$GC,244,-1.80,-487.5,1773,1956,3062,4094,30.9,-12.7,33,250,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1956,3062,3062,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.46,53.07
$GC,286,-1.80,-487.5,1773,1955,3063,4095,36.4,-12.9,39,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1956,3063,3063,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.43,52.36
$GC,328,-1.80,-487.5,1773,1956,3064,4094,41.7,-12.4,45,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1956,3064,3064,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.43,52.28
$GC,370,-1.80,-487.5,1772,1956,3065,4095,47.4,-14.1,51,376,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1955,3066,3066,4094,0,0,0,0,0,0,26.65,26.66,26.66,10.42,51.37
$GC,411,-1.80,-487.5,1773,1955,3066,4094,53.2,-13.9,57,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1956,3066,3066,4094,0,0,0,0,0,0,26.66,26.67,26.67,10.41,51.06
$STATE,422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,422,begin apogee
$GC,437,-0.45,0.0,1773,2147,3067,4095,55.5,-13.5,59,473,4.38,0.00,28.70,1.245,10244,0.052,0.000,2186,2147,2484,2484,4095,0,0,0,0,0,0,26.11,25.11,23.77,10.41,50.94
$STATE,474,end apogee,CONTROL_FINISHED_OK
$STATE,474,begin climb
$GC,480,1.80,487.5,2186,2147,2484,4095,58.9,0.0,65,522,7.43,0.00,28.23,1.223,11270,0.028,0.000,2902,2147,1916,1916,4094,0,0,0,0,0,0,25.75,25.93,23.42,10.29,50.70
$GC,558,1.80,487.5,2901,2147,1915,4094,52.9,11.8,77,565,0.00,1.15,0.00,0.000,516,0.000,0.047,2902,1719,1915,1915,4094,0,0,0,0,0,0,25.75,25.34,25.77,10.16,49.29
$GC,685,1.80,487.5,2901,1719,1911,4094,35.6,13.2,97,691,0.00,1.00,0.00,0.000,1030,0.000,0.028,2902,2130,1911,1911,4094,0,0,0,0,0,0,25.89,25.86,25.93,10.15,49.60
$GC,728,1.80,487.5,2901,2130,1910,4094,29.8,13.4,103,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1910,1910,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.16,49.40
$GC,769,1.80,487.5,2901,2130,1908,4094,24.3,12.8,109,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1908,1908,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.19,50.00
$GC,811,1.80,487.5,2901,2130,1907,4094,19.3,11.9,115,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1907,1907,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.20,51.10
$GC,853,1.80,487.5,2901,2130,1906,4094,14.2,11.9,121,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1906,1906,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.21,52.48
$GC,895,1.80,487.5,2901,2130,1905,4094,9.5,11.7,127,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1905,1905,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.21,52.16
$GC,937,1.80,487.5,2901,2130,1903,4094,4.6,12.3,133,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1902,1902,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.21,53.03
$STATE,954,end climb,FINISH_DEPTH_REACHED
$STATE,954,begin subsurface finish
$FINISH1,1.6,1.024585,71
$GC,969,0.11,70.7,2902,2131,1902,4094,1.6,12.7,136,983,5.32,0.00,-4.32,0.000,20486,0.028,0.000,2378,2131,2406,2406,4094,0,0,0,0,0,0,26.12,24.38,26.20,10.21,52.87
$FINISH2,0.3
$STATE,984,end subsurface finish,CONTROL_FINISHED_OK
$STATE,984,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,174635
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.22
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.42,92.507
$10V_AH,10.18,80.995
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.000,5.375,56.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,362.370,209.107,131.841,200.440,143.262,0.000,287.798,0.000,210.268,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1208.700,1245.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.709,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333740
$DATA_FILE_SIZE,10753,138
$CAP_FILE_SIZE,24050,0
$CFSIZE,1024409600,889847808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190917,190227,5835.375,-17001.223,7,0.9,16,8.8,0.5,271.0,9,4.7